WO2012148022A1 - Device for cleaning glass windows, and method for controlling the movement thereof - Google Patents

Abstract

The present invention relates to a device for cleaning glass windows, including a first cleaning unit and a second cleaning unit each of which are magnetically attached to either side of a glass window so as to be movable, and to a method for controlling the movement thereof. The device comprises: a direction-detecting sensor disposed on at least one of the first and second cleaning units so as to detect the direction in which the device for cleaning glass windows is moving; a control unit for controlling the movement of the device for cleaning glass windows according to the direction thereof as detected by the direction-detecting sensor; a collision-detecting unit for detecting a collision of the device for cleaning glass windows; and an offset-setting unit for setting a directional offset for the direction-detecting sensor if the device for cleaning glass windows collides with the window frame of the glass window.

Description

Window cleaning apparatus and its movement control method

The present invention relates to a device for cleaning a window.

In general, the glass windows installed on the wall of the building is easily contaminated by external dust, pollution, etc., so it is easy to damage the aesthetics or deteriorate the skylight. Therefore, it is desirable to frequently clean the windows installed on the outer wall of the building.

However, in the case of the outer wall of the glass window, it is more difficult to clean than the inner wall. In particular, as the residential building becomes higher and higher, the cleaning of the outer wall of the glass window has a high risk.

An object of the present invention is to provide a window cleaning apparatus and a movement control method thereof, which can improve the efficiency and stability of the operation.

The window cleaning apparatus according to the embodiment of the present invention includes a first cleaning unit and a second cleaning unit which are attached to both surfaces of the window and move by magnetic force, and are provided in at least one of the first and second cleaning units. A direction detecting sensor detecting a direction that the window cleaning apparatus faces; A control unit which controls the movement of the window cleaning apparatus according to the direction of the window cleaning apparatus detected by the direction detecting sensor; A collision detector for detecting a collision of the window cleaning apparatus; And an offset setting unit configured to set a direction offset of the direction detection sensor when the window cleaning apparatus collides with the window frame of the window.

In addition, the movement control method of the window cleaning apparatus according to an embodiment of the present invention, detecting the direction toward the window cleaning apparatus using a direction sensor; And moving the window cleaning apparatus based on the detected direction of the window cleaning apparatus, wherein the direction offset of the direction sensor is reset when the window cleaning apparatus collides with the window frame of the window.

On the other hand, the control method may be implemented as a computer-readable recording medium recording a program for execution in a computer.

According to an embodiment of the present invention, by resetting the direction offset of the direction detection sensor provided in the window cleaning apparatus at a certain time, the window cleaning apparatus can be moved without error according to a predetermined movement path, accordingly the window cleaning apparatus Can improve the cleaning performance.

According to another embodiment of the present invention, by determining the moving path of the window cleaning apparatus based on the width of the window, it is possible to efficiently clean the windows of various widths.

According to another embodiment of the present invention, by moving the window cleaning apparatus to a position adjacent to the initial attachment position after the end of cleaning, it is easy for the user to detach the window cleaning apparatus from the glass window.

In particular, when the window cleaning apparatus includes two cleaning units each attached to the inner and outer surfaces of the glass window by magnetic force, the stability of the window cleaning apparatus can be improved by facilitating the separation of the inner and outer units.

1 is a perspective view briefly showing the configuration of a window cleaning apparatus according to an embodiment of the present invention.

2 is a plan view showing an embodiment of the configuration of the first cleaning unit disposed inside the glass window.

3 is a plan view showing an embodiment of the configuration of the second cleaning unit disposed on the outside of the glass window.

4 is a block diagram briefly illustrating a configuration of a movement control device included in the window cleaning apparatus according to the embodiment of the present invention.

5 is a view for explaining an example of a method of moving the window cleaning apparatus.

FIG. 6 is a view for explaining an example of a method of setting a direction offset of a direction detection sensor included in the window cleaning apparatus.

7 is a flowchart illustrating a movement control method of the window cleaning apparatus according to the embodiment of the present invention.

8 to 10 are diagrams illustrating embodiments of a method of setting a horizontal direction offset of a direction sensor.

11 to 13 are diagrams illustrating embodiments of a method of setting a vertical direction offset of a direction detection sensor.

14 is a flowchart illustrating an embodiment of a method for returning a window cleaning apparatus to an initial attachment position after cleaning is finished.

15 and 16 are diagrams illustrating a first embodiment of a method of resetting a direction offset of a direction detection sensor in a process of detecting an initial attachment position of a window cleaning apparatus.

17 to 24 are diagrams illustrating a second embodiment of a method of resetting a direction offset of a direction detection sensor in a process of detecting an initial attachment position of a window cleaning apparatus.

FIG. 25 is a diagram illustrating an embodiment of a method of resetting a direction offset of a direction sensor in a process of cleaning a window cleaning apparatus.

26 to 28 are views illustrating one embodiment of a return path of the window cleaning apparatus after cleaning is finished.

Hereinafter, a window cleaning apparatus and a movement control method thereof according to an embodiment of the present invention will be described with reference to FIGS. 1 to 28. Hereinafter, the embodiments may be modified in various forms, and the technical scope of the embodiments is not limited to the embodiments described below. The examples are provided to more fully illustrate those skilled in the art. Accordingly, the shape and size of elements in the drawings may be exaggerated for clarity.

1 is a perspective view showing a simplified configuration of a window cleaning apparatus according to an embodiment of the present invention, the window cleaning apparatus shown includes two cleaning units (100, 200) respectively disposed on both sides of the glass window Can be configured.

Referring to FIG. 1, the first cleaning unit 100 may be disposed on the inner side of both sides of the glass window, and the second cleaning unit 200 may be disposed on the outer side of the glass window. On the other hand, if necessary, the first cleaning unit 100 may be disposed on the outer side of the glass window, and the second cleaning unit 200 may be disposed on the inner side of the glass window.

The first cleaning unit 100 and the second cleaning unit 200 may be attached to face both sides of the glass window using magnetic modules having magnetic force therein, respectively.

In addition, when the first cleaning unit 100 moves in a state of being attached to the inner surface of the glass window by an external or self power source, the second cleaning unit 200 is respectively attached to the first and second cleaning units 100 and 200. The magnetic force between the provided magnetic modules may be simultaneously moved along the movement of the first cleaning unit 100.

The second cleaning unit 200 may include a detachable member 250, for example, a handle 250 as shown in FIG. 1, which allows a user to easily attach and detach the second cleaning unit 100 to a windowpane. In addition, the first cleaning unit 100 may also include a detachable member (not shown) that facilitates detachment so as to correspond to the detachable member 250 of the second cleaning unit 200.

Accordingly, the user can attach the cleaning device to the glass window by using two detachable members, that is, two handles provided in the first and second cleaning units 100 and 200, respectively, when the glass cleaning device is used. The handles can be used to separate the first and second cleaning units 100, 200 from the glass window.

On the other hand, the window cleaning apparatus according to an embodiment of the present invention may further include a remote controller (remote controller, not shown) to enable a user to control the operation of the first, second cleaning units (100, 200). have.

As described above, the second cleaning unit 200 is dependently moved by the magnetic force according to the movement of the first cleaning unit 100, and the user uses the remote controller (not shown) of the first cleaning unit 100. The movement may be manipulated to control the driving of the window cleaning apparatus composed of the first and second cleaning units 100 and 200.

In the present embodiment, a remote controller (not shown) that can be operated in a wireless manner is configured for the convenience of the user. However, the remote controller (not shown) according to the present invention may be used in a manner of operating by wire or manually by a user.

On the other hand, the window cleaning apparatus according to an embodiment of the present invention, more specifically, the first cleaning unit 100 disposed inside the glass window is a sensor that can move along a preset movement path, detect dust or the like (not shown) It is also possible to determine and move the moving path that can be provided to improve the cleaning efficiency.

Hereinafter, specific configurations of each of the first and second cleaning units 100 and 200 shown in FIG. 1 will be described in more detail with reference to FIGS. 2 and 3.

FIG. 2 is a plan view showing an embodiment of the configuration of the first cleaning unit 100 and illustrates a configuration of an upper surface of the first cleaning unit 100 in contact with a glass window.

Referring to FIG. 2, the first cleaning unit 100 may include a first frame 110, a plurality of first wheel members 120, and a plurality of first magnetic modules 130.

The first frame 110 forms the body of the first cleaning unit 100 so that the plurality of first wheel members 120 and the plurality of first magnetic modules 130 are coupled to the first frame 110. Can be fixed.

Meanwhile, shock absorbing members 140 to 143 may be formed on the edge of the first frame 110 to minimize the impact when the glass frame cleaning device collides with the protruding structure such as the window frame of the glass window. In addition, when an impact is detected by a sensor (not shown) connected to each of the buffer members 140 to 143, the first cleaning unit 100 may change the movement path.

For example, as illustrated in FIG. 2, the buffer members 140 to 143 may be provided at four corner portions of the first cleaning unit 100, respectively, and may be connected to each other using a sensor (not shown) connected thereto. By detecting the impact, it may be recognized that the first cleaning unit 100 has collided with the window frame of the glass window.

More specifically, when the shock is detected in the two shock absorbing members (140, 141) provided on one side of the first cleaning unit 100 during the movement of the window cleaning apparatus, the outer portion of the first cleaning unit 100 It can be recognized that one side of the buffer member 140, 141 provided with the impact on the window frame of the glass window.

In the present embodiment, the first frame 110 of the first cleaning unit 100 is configured to have a rectangular cross section, which is an embodiment of the present invention, but the present invention is not limited to this shape, and circular or other polygons. Of course, it can be configured in a variety of structures having a cross section of.

Meanwhile, the first cleaning unit 100 may include a plurality of first magnetic modules 130, and the first magnetic module 130 may include the first cleaning unit 100 and the second cleaning unit 200. It generates a magnetic force to be attached to both sides of the window.

For example, the first magnetic module 130 may include a permanent magnet such as a neodium magnet, and generate magnetic force together with the second magnetic module 233 provided in the second cleaning unit 200. Can be.

More specifically, the first magnetic module 130 provided in the first cleaning unit 100 and the second magnetic module 233 provided in the second cleaning unit may include magnets having opposite polarities to each other. Accordingly, the first and second cleaning units 100 and 200 disposed on both sides of the glass window may be attached to the glass window and simultaneously moved by attracting each other by magnetic force.

In addition, as another embodiment of the present invention, the magnetic modules 130 and 233 may be configured using an electromagnet in addition to the permanent magnet, or may be provided with a permanent magnet and an electromagnet as another embodiment.

The window cleaning apparatus according to the embodiment of the present invention is not limited to the magnetic modules 130 and 233 as described above, and the first and second cleaning units 100 and 200 are attached to each other by the magnetic force with the glass window interposed therebetween. Various configurations that may be moved may be possible.

For example, any one of the first and second cleaning units 100 and 200 may include a magnetic material such as a permanent magnet or an electromagnet, and the other may include a metal body or the like that may be attracted by the magnetic force of the magnetic material. It may be.

As shown in FIG. 2, the first magnetic module 130 may be configured in four disk shapes and may be disposed on an upper surface of the first cleaning unit 100 attached to the glass window.

The first magnetic module 130 may be provided in a form exposed in the direction in contact with the glass window, alternatively, may be disposed to be adjacent to the upper surface of the first cleaning unit 100 by using a separate cover member or the like. have.

In addition, two or more first wheel members 120 are disposed on the left and right sides of the first cleaning unit 100 such that a portion thereof is exposed upward of the first frame 110, for example, the left side as shown in FIG. 2. A total of two may be provided, one on each of the right side, or a total of four, one on each of the corner parts.

For example, the first wheel member 120 may be rotated by a driving unit (not shown) such as a motor installed in the first frame 110. The first cleaning unit 100 may be moved in a predetermined direction as the first wheel member 120 rotates in a state of being attached to the glass window.

On the other hand, the first cleaning unit 100 may be capable of moving in a curved direction, that is, changing the moving direction, as well as in the linear direction. For example, the rotation axis of the first wheel member 120 is changed, or the two first wheel members 120 provided on each of the left and right sides are rotated at different speeds so that the first cleaning unit 100 may be rotated. The direction of movement can be changed.

The surface of the first wheel member 120 may be configured using a material such as fiber or rubber so that a predetermined friction force may occur with the glass window when rotating, so that the first wheel member 120 does not spin when rotating. The first cleaning unit 100 can be easily moved along the inner surface of the glass window. In addition, the surface of the first wheel member 120 may be made of a material to prevent scratches in the glass window during rotation.

The first cleaning unit 100 is attached to one surface of the glass window by the magnetic force of the first magnetic module 130, so that a reaction force formed in a direction perpendicular to the glass window may act on the first wheel member 120. Accordingly, when the first wheel member 120 is rotated by a drive unit (not shown) having a motor or the like, the first cleaning unit 100 can move along the inner surface of the glass window by the frictional force.

On the other hand, when the first cleaning unit 100 is moved by the rotation of the first wheel member 120, the second cleaning unit 200 attached to the opposite side, that is, the outer surface of the glass window, also by the magnetic force of the first cleaning unit According to the movement of the 100, the cleaning operation can be performed while moving integrally.

FIG. 3 is a plan view showing an embodiment of the configuration of the second cleaning unit 200 and illustrates a configuration of a bottom surface of the second cleaning unit 200 in contact with the glass window.

Referring to FIG. 3, the second cleaning unit 200 may include a second frame 210, a plurality of second wheel members 220, and a plurality of cleaning modules 230.

The second frame 210 forms the body of the second cleaning unit 200 and has a shape corresponding to the first frame 110 of the first cleaning unit 100 as described above, for example, a rectangular cross section. It may be configured as a plate structure.

In addition, a plurality of second wheel members 220 may be formed on a lower surface of the second frame 210 to move the second cleaning unit 200 by magnetic force according to the movement of the first cleaning unit 100. can do.

According to an embodiment of the present invention, unlike the first wheel member 120 provided in the first cleaning unit 100, the second wheel member 220 is not connected to a driving unit such as a motor, and the second cleaning member ( It may be provided in a state that is axially connected to the second frame 210 to naturally rotate as the movement of the 200.

Accordingly, when the second cleaning unit 200 moves by the magnetic force together with the first cleaning unit 100, the second wheel member 220 may rotate to perform a function similar to a bearing.

In FIG. 3, the second wheel member 220 has a cylindrical shape, but the present invention is not limited thereto. For example, the second wheel member 220 may be configured using a spherical member such as a ball bearing.

The cleaning module 230 may be formed to be exposed to the lower surface of the second frame 210 to clean one surface of the glass window, for example, an outer surface on which the second cleaning unit 200 is disposed.

As shown in FIG. 3, the cleaning module 230 may include a plurality of modules, for example, a cleaning pad 231, a second magnetic module 232, and a detergent injection hole 231. 1 may be configured in the shape of four disks corresponding to the first magnetic module 130 of the cleaning unit (100).

Meanwhile, each of the four disk shapes provided in the cleaning module 230 may be provided to be rotatable by a driving unit (not shown) such as a motor (not shown). In addition, the cleaning module 230 may be formed to protrude at a predetermined interval from the lower surface of the second frame 210, so that the cleaning module 230 of the cleaning module 230 in the state that the second cleaning unit 200 is attached to the glass window By rotating, the cleaning operation may be performed on the outer surface of the glass window using the friction force.

The cleaning module 230 may be attached on the exposed surface of the pad 231 made of a material such as fiber or rubber so as to easily remove foreign substances in the glass window by friction when rotating. In this case, in order to improve the cleaning performance of the window cleaning apparatus, the pad 231 may be made of a material of a micro hair structure or a porous structure.

In addition, the cleaning module 230 may include a detergent inlet 232 for injecting detergent, for example, the detergent inlet 232 is a detergent storage container (not shown) built in the second cleaning unit 200. And a pump (not shown) and the like may be connected by a separate flow path to receive detergent. Accordingly, when cleaning the glass window cleaning module 230 may perform a cleaning operation while spraying the detergent to the glass window using the detergent injection port 232.

Meanwhile, the second magnetic module 233 may be formed inside the cleaning module 230, more specifically, under the pad 231 so as to overlap the cleaning module 230. The second magnetic module 233 has a shape corresponding to the first magnetic module 233 provided in the first cleaning unit 100, and the first and second cleaning units 100 and 200 may be attached to both sides of the glass window. It is a function to generate magnetic force so that it can

The second magnetic module 233 may be made of a magnetic body or a metal body such as a permanent magnet, an electromagnet, etc., so that the first and second cleaning units 100 and 200 disposed on both sides of the glass window are attracted to each other by magnetic force. By pulling it can be attached to the window and moved simultaneously.

For example, the cleaning module 230 may be disposed at a position corresponding to the first magnetic module 130 and may include a second magnetic module 233 made of a neodium magnet having a polarity opposite to that of the first magnetic module 130. It may be disposed inside the cleaning module 230.

Accordingly, the first cleaning unit 100 and the second cleaning unit 200 are both sides of the glass window by the magnetic force between the first magnetic module 130 and the second magnetic module 233 provided in the cleaning module 230. In addition to being attached to the installation, it may be possible to move the first cleaning unit 100 and the second cleaning unit 200 integrally.

In addition, a continuous force acts on the cleaning module 230 in the glass window direction by the magnetic force between the first and second magnetic modules 130 and 233, thereby increasing the frictional force with the glass window when the cleaning module 230 rotates. The cleaning performance can be improved.

3, the second cleaning unit 200 may include a plurality of auxiliary cleaning modules 240 formed at corner portions of the second cleaning unit 200. The cleaning module 230 may be formed inside the second frame 210. Referring to FIG. Since the edge portion of the glass window may be difficult to clean, the second cleaning unit may include auxiliary cleaning modules 240 to more easily clean the edge portion of the window frame.

The auxiliary cleaning module 240 may include a roller member (not shown) rotatably installed, and a brush may be formed on an outer circumferential surface of the roller member. Accordingly, when the second cleaning unit 200 moves along the window frame, the auxiliary cleaning modules 240 may remove foreign substances in the window frame part while rotating by the friction force with the window frame.

On the other hand, the auxiliary cleaning modules 240 have the same function as the buffer member 140 provided in the first cleaning unit 100 as described above, that is, to minimize the impact when colliding with a projecting structure such as a window frame, etc. It can also be used to detect shocks using a built-in sensor.

In the above, the structure of the window cleaning apparatus according to an exemplary embodiment of the present invention has been described with reference to FIGS. 1 to 3, in which the window cleaning apparatus cleans only one surface, for example, an outer surface of the glass window. Since only one embodiment, the present invention is not limited thereto.

For example, the first cleaning unit 100 may also include a cleaning module 230 as provided in the second cleaning unit 200, so that the window cleaning apparatus according to the present invention simultaneously faces both sides of the glass window. You may want to clean it.

According to an embodiment of the present invention, the window cleaning apparatus having the configuration as described with reference to FIGS. 1 to 3 is based on the direction of the window cleaning apparatus detected using a direction sensor (eg, an acceleration sensor). The movement is controlled, and the direction offset of the direction sensor may be reset when the window cleaning device collides with the window frame of the window while moving.

4 is a block diagram illustrating a simplified configuration of a movement control apparatus provided in the window cleaning apparatus according to an embodiment of the present invention, wherein the movement control apparatus includes a direction sensor 300, a controller 310, and a collision detection unit ( 320 and an offset setting unit 330.

Referring to FIG. 4, the direction detection sensor 300 may detect a direction that the window cleaning apparatus faces.

The sensor detects a change in an external physical environment and converts an electrical signal. The sensor detects and converts physical values such as an inclination and an acceleration of an object into a corresponding electrical signal.

For example, the direction sensor 300 may be implemented by using an acceleration sensor for measuring the acceleration generated in the object by an electrical signal, the acceleration sensor is a sensor using a piezo-resistor and electrostatic It can be classified as a sensor using capacitance.

More specifically, in the capacitive acceleration sensor, the position of the internal mass included in the acceleration sensor is changed during the acceleration movement, and the area where the mass and the sensing electrode overlap by the displacement of the internal mass changes. Acceleration can be measured by measuring the degree of change in capacitance between electrodes as the area changes.

The direction detecting sensor 300 implemented by using the acceleration sensor as described above is based on the preset reference axes (for example, the x axis in the horizontal direction and the y axis in the vertical direction) based on the embodiment of the present invention. It is possible to recognize the direction that the window cleaning apparatus according to the direction.

Meanwhile, the direction sensor 300 may be provided in at least one of the first and second cleaning units 100 and 200 as described with reference to FIGS. 1 to 3, and according to an embodiment of the present invention, The first and second cleaning units 100 and 200 may be attached to the inside of the glass window and may be provided in the first cleaning unit 100 that is responsible for the movement of the glass cleaning device.

In this case, the direction detection sensor 300 provided in the first cleaning unit 100 may detect a direction that the first cleaning unit 100 faces by using the acceleration sensor as described above.

In the above, the wind sensor cleaning apparatus according to an embodiment of the present invention has been described using the direction detecting sensor 300 to detect the direction of the window cleaning apparatus using an acceleration sensor as an example, but the present invention is not limited thereto. In addition to the sensor, various sensors capable of recognizing the direction of the window cleaning apparatus may be used.

In addition, the controller 310 may control the movement of the window cleaning apparatus according to the embodiment of the present invention based on the direction of the window cleaning apparatus detected by the direction sensor 300.

For example, the controller 310 may be provided in the first cleaning unit 100 to control the rotation of the plurality of first wheel members 120 as described with reference to FIG. A driving unit (not shown) for driving the motors connected to the wheel members 120 may be included.

More specifically, the controller 310 adjusts the voltage (or current) supplied to the motors respectively connected to the first wheel members 120 so that the first cleaning unit 100 moves in a desired direction and speed. It may be controlled, the movement direction of the first cleaning unit 100 may be controlled in accordance with the direction of the window cleaning apparatus detected by the direction sensor 300.

That is, the controller 310 compares the direction to be moved with the current direction of the window cleaning apparatus detected by the direction detection sensor 300, so that the direction of the window cleaning apparatus is closer to the direction to be moved. The direction of movement of the device 100 may be changed and moved, and the controller 310 may periodically check the direction detected by the direction sensor 300.

The controller 310 may include a circuit unit (not shown) configured to function as described above, and the circuit unit may be implemented in the form of a printed circuit board (PCB).

Meanwhile, the collision detection unit 320 may detect a collision of the window cleaning apparatus, and may include a plurality of impact detection sensors (not shown) capable of detecting an impact therefor.

For example, the collision detection unit 320 may be provided in the first cleaning unit 100 to detect that the first cleaning unit 100 collides with the window frame of the glass window during movement.

For this purpose, the collision detection unit 320 may include a plurality of shock absorbing members 140 to 143 mounted to corner portions of the first cleaning unit 100, respectively, as shown in FIG. The members 140 to 143 may sense shocks applied due to the impact on the window pane by using shock detection sensors.

The offset setting unit 330 sets a direction offset of the direction sensor 300, and according to an embodiment of the present invention, the direction detection sensor 300 at the time when the window cleaning device collides with the window frame of the window. You can reset the direction offset of.

Referring to an example of the movement pattern of the window cleaning apparatus illustrated in FIG. 5, the window cleaning apparatus 10 includes a right-down section that moves downward from the left end to the right end and the right end to the left end of the window 400. The window cleaning may be performed by moving along a movement path M including a downwardly moving left-down section.

On the other hand, the movement of the window cleaning apparatus 10 as described above may be controlled by the control unit 310, the control unit 310 by using the direction of the window cleaning apparatus 10 detected by the direction detection sensor 300. By controlling the movement direction, the window cleaning apparatus 10 may move along the movement path M as shown in FIG. 5.

However, when the direction offset of the direction sensor 300 is not set correctly, that is, when the reference axis set in the direction sensor 300 and the actual horizontal / vertical direction do not match, the direction sensor 300 detects the direction. The direction of the window cleaning apparatus 10 may not match the actual direction.

In this case, the movement path of the window cleaning apparatus 10 controlled to be moved by the controller 310 may not match the preset movement path M, which may reduce the cleaning performance of the window cleaning apparatus 10 or It may cause a problem that the window cleaning apparatus 10 malfunctions.

Referring to FIG. 6, the problem in the case where the direction offset of the direction sensor 300 is set incorrectly will be described in detail. The horizontal reference axis x ′ and the vertical direction reference axis y set in the direction sensor 300 will be described. ') May not coincide with the actual horizontal / vertical axes (x, y), and the setting error of the direction offset as described above may be caused by model deviation of the direction sensor 300, mechanical assembly deviation, or internal and external temperature. It may be caused by a change or the like.

On the other hand, due to an error in setting the direction offset as shown in FIG. 6, for example, when the controller 310 attempts to move the window cleaning apparatus 10 in the right horizontal direction (x-axis direction), the window cleaning is performed. The actual direction of movement of the device 10 is slightly upward (x 'axis direction) than the horizontal direction.

Therefore, in order to prevent an error in the moving direction caused by the direction offset setting error of the direction sensor 300 as described above, the direction offset of the direction sensor 300 is set correctly (that is, shown in FIG. 6). Work may be required to match the horizontal / vertical reference axes (x ', y') with the actual horizontal / vertical axes (x, y).

According to the exemplary embodiment of the present invention, the window setting apparatus 10 as described above is reset by the offset setting unit 330 provided in the window cleaning apparatus 10 at a predetermined time point. It is possible to prevent the movement path error of the.

More specifically, the offset setting unit 330 may receive a signal from the collision detection unit 320 when the window cleaning apparatus 10 collides with the window frame of the window, and may reset the direction offset of the direction sensor 300. .

Hereinafter, an embodiment of the movement control method of the window cleaning apparatus 10 will be described in more detail with reference to FIGS. 7 to 13.

Meanwhile, below, the first cleaning unit 100 attached to the inner surface of the glass window 400 among the first and second cleaning units 100 and 200 included in the window cleaning apparatus 10 as described above may be used. It is moved by the movement control method according to the embodiment, the second cleaning unit 200 will be described by taking a case by the magnetic force according to the movement of the first cleaning unit 100 as an example.

However, the present invention is not limited thereto, and the second cleaning unit 200 attached to the outer surface of the window 400 is moved by the movement control method according to the embodiment of the present invention, and the first cleaning unit 100 is moved. The same applies to the case where the second cleaning unit 200 is moved by a magnetic force according to the movement of the second cleaning unit 200 or when both the first and second cleaning units 100 and 200 are moved by the movement control method according to the embodiment of the present invention. It may be possible.

7 is a flowchart illustrating a movement control method of the window cleaning apparatus according to an embodiment of the present invention, and the illustrated movement control method illustrates a configuration of the movement control apparatus provided in the window cleaning apparatus according to the embodiment of the present invention. It will be described in conjunction with the block diagram of FIG.

Referring to FIG. 7, the collision detection unit 320 detects whether or not the window cleaning apparatus has collided with the window frame of the window (S500).

The collision detector 320 may detect that the first cleaning unit 100 has collided with the window frame of the glass window during movement by using the buffer members 141 to 143 as shown in FIG. 2.

For example, when an impact is sensed by two shock absorbing members 140 and 141 provided on one side of the first cleaning unit 100 among the shock absorbing members 141 to 143 as shown in FIG. 2, The collision detection unit 320 may recognize that one side of the first cleaning unit 100 on which the two buffer members 140 and 141 are mounted has collided with the window frame of the glass window.

When the window cleaning apparatus collides with the window frame of the window, the offset setting unit 330 resets the direction offset of the direction sensor 300 (step S510).

For example, when one side of the first cleaning unit 100 collides with the window frame of the glass window, an impact is detected in the two shock absorbing members 140 and 141 mounted on one side of the collided first cleaning unit 100. The collision detection unit 320 may output a signal such that the offset setting unit 330 resets the direction offset of the direction detection sensor 300.

Referring to FIG. 8, when the first cleaning unit 100 of the window cleaning apparatus collides with the window frame 410 of the window 400, more specifically, a vertical frame extending in the vertical direction while moving in the horizontal direction. The offset setting unit 330 may reset the horizontal direction offset of the direction detection sensor 300.

Meanwhile, referring to FIG. 9, when the first cleaning unit 100 of the window cleaning apparatus collides with the left vertical frame of the window frame 410 of the window 400 while moving in the left horizontal direction, the offset setting unit ( 330 may reset the horizontal direction offset of the direction sensor 300.

In addition, when the first cleaning unit 100 collides with the right or left vertical frame, the vertical direction offset of the direction sensor 300 may also be reset based on the resetting of the horizontal direction offset as described above.

For example, the setting of the horizontal offset is to adjust the horizontal reference axis x 'of the direction sensor 300 as shown in FIG. 6 to coincide with the actual horizontal direction x. The vertical direction offset of the direction detection sensor 300 may be reset by adjusting the vertical direction reference axis y 'of the direction detection sensor 300 to be orthogonal to the horizontal direction reference axis x'.

Hereinafter, an embodiment of a method of resetting the horizontal direction offset of the direction sensor 300 will be described in detail with reference to FIG. 10.

Referring to FIG. 10A, the first cleaning unit 100 may collide with the right vertical frame 410R of the window frame 410 of the glass window 400 while moving in the horizontal direction.

However, as shown in FIG. 10A, when an impact is detected only in any one of the buffer members 140 and 141 provided on one side of the first cleaning unit 100, the first cleaning unit ( Since the 100 does not completely collide with the right vertical frame 410R, the controller 310 may continuously move the first cleaning unit 100 in the right horizontal direction.

That is, the controller 310 moves the first cleaning unit 100 until all two or more buffer members provided on one side of the first cleaning unit 100 collide with the frame of the glass window.

Accordingly, as shown in (b) of FIG. 10, when the shock is detected in all of the buffer members 140, 141 provided on one side of the first cleaning unit 100, the collision detection unit 320 May determine that the first cleaning unit 100 has collided with the right vertical frame 410R, and output a collision detection signal to the offset setting unit 330.

The offset setting unit 330 resets the horizontal direction offset of the direction detection sensor 300 based on the current direction of the first cleaning unit 100 at the time when the collision detection signal is input from the collision detection unit 320. can do.

That is, the direction toward which the first cleaning unit 100 faces at the time of collision as shown in FIG. 10 (b) is a direction orthogonal to the right vertical frame 410R of the glass window 400, and thus, the offset setting unit 330 The horizontal direction offset may be reset by matching the horizontal direction reference axis x 'of the direction sensor 300 with the direction of the first cleaning unit 100 at the time of collision.

By resetting the horizontal direction offset performed at the time of collision as described above, the horizontal direction reference axis x 'of the direction detection sensor 300 can be adjusted to coincide with the actual horizontal direction axis x. 1 Error in the horizontal movement of the cleaning unit 100 can be reduced.

On the other hand, as shown in (b) of Figure 10, when the shock is detected in all of the buffer members 140, 141 provided on one side of the first cleaning unit 100, the controller 310 is the first cleaning The movement of the unit 100 in the right direction may be stopped and the first cleaning unit 100 may be controlled to move in the left direction according to a preset movement path.

Referring to FIG. 11, the first cleaning unit 100 of the window cleaning apparatus collides with the window frame 410 of the glass window 400, more specifically, the horizontal frame extending in the horizontal direction while moving downward in the vertical direction. In this case, the offset setting unit 330 may reset the vertical direction offset of the direction detection sensor 300.

Meanwhile, referring to FIG. 12, when the first cleaning unit 100 of the window cleaning apparatus collides with the upper horizontal frame of the window frame 410 of the window 400 while moving upward in the vertical direction, the offset setting unit ( 330 may reset the vertical direction offset of the direction sensor 300.

In addition, when the first cleaning unit 100 collides with the upper or lower horizontal frame, the horizontal direction offset of the direction sensor 300 may also be reset based on the resetting of the vertical direction offset as described above.

For example, the setting of the vertical offset is to adjust the vertical reference axis y 'of the direction sensor 300 as shown in FIG. 6 to coincide with the actual vertical axis y. The horizontal direction offset of the direction detection sensor 300 may be reset by adjusting the horizontal direction reference axis x 'of the direction detection sensor 300 to be orthogonal to the vertical direction reference axis y'.

Hereinafter, an embodiment of a method of resetting the vertical direction offset of the direction sensor 300 will be described in detail with reference to FIG. 13.

Referring to FIG. 13A, the first cleaning unit 100 may collide with the lower horizontal frame 410B of the window frame 410 of the glass window 400 while moving downward in the vertical direction.

However, as shown in (a) of FIG. 13, when an impact is detected only in any one of the buffer members 140 and 141 provided on one side of the first cleaning unit 100, the first cleaning unit ( Since the 100 does not completely collide with the lower horizontal frame 410B, the controller 310 may continuously move the first cleaning unit 100 downward in the vertical direction.

Accordingly, as shown in (b) of FIG. 13, when the shock is detected in both of the buffer members 140 and 141 provided on one side of the first cleaning unit 100, the collision detection unit 320 May determine that the first cleaning unit 100 has collided with the lower horizontal frame 410B, and output a collision detection signal to the offset setting unit 330.

The offset setting unit 330 resets the vertical direction offset of the direction detection sensor 300 based on the current direction of the first cleaning unit 100 at the time when the collision detection signal is input from the collision detection unit 320. can do.

That is, the direction toward which the first cleaning unit 100 faces at the time of the collision as shown in FIG. 13B is a direction orthogonal to the lower horizontal frame 410B of the glass window 400, and thus, the offset setting unit 330. The vertical offset may be reset by matching the vertical direction axis y 'of the direction sensor 300 with the direction of the first cleaning unit 100 at the time of collision.

By resetting the vertical direction offset performed at the time of collision as described above, the vertical direction reference axis y 'of the direction detection sensor 300 can be adjusted to coincide with the actual vertical direction axis y. 1 Error in the vertical movement of the cleaning unit 100 can be reduced.

On the other hand, as shown in (b) of Figure 13, when the shock is detected in all of the buffer members 140, 141 provided on one side of the first cleaning unit 100, the controller 310 is the first cleaning The movement of the downward direction of the unit 100 may be stopped and the first cleaning unit 100 may be controlled to move upward, right or left according to a predetermined movement path.

The offset setting method of the direction sensor 300 as described above with reference to FIGS. 7 to 13 may be performed at the time when the window cleaning device collides with the window frame of the window while moving, and is performed every time the window frame is collided. Alternatively, the operation may be performed only when the preset condition is met among the window frame collision points.

For example, the window cleaning device collides with the window frame of the window while moving along a predetermined movement path in the process of detecting the initial attachment position after the window is attached, cleaning the window, or returning to the initial attachment position after the cleaning is finished. In this case, an offset setting method of the direction sensor 300 may be performed.

FIG. 14 is a flowchart illustrating an example of a method of returning the window cleaning apparatus to the initial attachment position after the cleaning is finished, and the illustrated method may be performed by the controller 310 provided in the window cleaning apparatus.

Referring to FIG. 4, the control unit 310 provided in the window cleaning apparatus detects an initial attachment position of the window cleaning apparatus (S600).

For example, when a user requests the start of a cleaning operation after attaching the window cleaning device to the window for cleaning the window, the controller 310 determines whether the initial attachment position of the window cleaning device is right or left of the window. can do.

Thereafter, the window cleaning apparatus moves along the set movement path and performs window cleaning.

The controller 310 determines whether the window cleaning is finished (step S610), and when the cleaning is finished, moves the window cleaning apparatus to a position adjacent to the detected attachment position among the left end and the right end of the window (step S620). ).

For example, when it is determined in step S600 that the initial attachment position of the window cleaning apparatus is the left side of the window, the control unit 310 may move the window cleaning apparatus to the left end of the window after the cleaning is finished.

On the contrary, when the initial attachment position of the window cleaning apparatus is determined to be the right side of the window, the control unit 310 may move the window cleaning apparatus to the right end of the window after the cleaning is finished.

That is, since the position where the user attaches the window cleaning apparatus may be a position where the user may easily remove the window cleaning apparatus, by returning the window cleaning apparatus to the position adjacent to the initial attachment position after the end of cleaning as described above, It may facilitate the user to separate the window cleaning apparatus from the window.

On the other hand, when the cleaning is not finished, the control module may continue to move the window glass cleaning apparatus according to the movement path.

According to one embodiment of the present invention, the window cleaning apparatus may perform cleaning while gradually moving from the upper end to the lower end of the glass window. In this case, the control unit 310 moves the glass window cleaning device to the lower end of the glass window. It may be determined that the cleaning is finished.

Referring to FIG. 15 and FIG. 16, a first embodiment of a method for detecting an initial attachment position of a window cleaning apparatus is described. After the user attaches the window cleaning apparatus 10 to the glass window 400, the cleaning operation starts. When requesting, the first cleaning unit 100 moves in the upward direction from the initial attachment position.

Referring to FIG. 15, the first cleaning unit 100 may vertically move up from the attachment position to move to the upper end of the glass window, and the cushioning members provided on the moving direction side of the first cleaning unit 100 may include the window frame 410. In the case of colliding with the upper horizontal frame of), it may be determined that the first cleaning unit 100 has moved to the upper end of the glass window.

Then, the first cleaning unit 100 may change the moving direction to the left direction and then move horizontally to the right end of the glass window, and the cushioning members provided on the moving direction side of the first cleaning unit 100 may have a window frame. In the case of colliding with the left vertical frame of 410, it may be determined that the first cleaning unit 100 has moved to the left end of the glass window.

According to one embodiment of the invention, at the time (A1, A2) when the first cleaning unit 100 collides with the window frame 410, the direction of the sensor 300 as described with reference to FIGS. The offset setting method may be performed.

For example, at the time A1 at which the first cleaning unit 100 collides with the upper frame, the vertical direction offset of the direction sensor 300 is reset as described with reference to FIGS. 11 to 13, and the reset is performed. The horizontal direction offset of the direction sensor 300 may be reset based on the vertical direction offset.

In addition, at a time point A2 when the first cleaning unit 100 collides with the left frame, the horizontal direction offset of the direction sensor 300 may be reset as described with reference to FIGS. 8 to 10.

Meanwhile, as illustrated in FIG. 15, the first moving distance m1 may be measured while the first cleaning unit 100 is horizontally moved to the left side, for example, the first cleaning unit 100 may be provided with a first cleaning unit 100. The first moving distance m1 may be measured by the amount of rotation of the first wheel members 120.

Referring to FIG. 16, the first cleaning unit 100 may move horizontally from the left end of the uppermost end of the glass window 400 to the right end thereof to move to the left end of the glass window, and the moving direction of the first cleaning unit 100 may be changed. When the impacting members collide with the right frame of the window frame 410, it may be determined that the first cleaning unit 100 has moved to the left end of the glass window.

Meanwhile, at a time point A3 when the first cleaning unit 100 collides with the right frame, the horizontal direction offset of the direction sensor 300 is reset, and the direction detection sensor 300 is based on the reset horizontal direction offset. The vertical offset of can be reset.

In addition, the second moving distance m2 may be measured while the first cleaning unit 100 moves from the left end to the right end of the uppermost portion of the window 400, for example, in the first cleaning unit 100. The second moving distance m2 may be measured by the amount of rotation of the provided first wheel members 120.

According to an embodiment of the present invention, after the first moving distance m1 and the second moving distance m2 are measured as described above, the window cleaning apparatus by comparing the first and second moving distances m1 and m2. The initial attachment position of can be detected.

For example, in the case shown in Figs. 15 and 16, since the first moving distance m1 is greater than 1/2 of the second moving distance m2, the initial attachment position of the window cleaning apparatus is a window pane. It may be determined that the right side (400).

Accordingly, after the end of the cleaning, the window cleaning apparatus, more specifically, the first cleaning unit 100 moves to the right end of the window to stand by, and thus the user moves the first and second cleaning units 100 and 200 to the window pane. 400 can be easily separated.

On the contrary, when the first moving distance m1 is smaller than 1/2 of the second moving distance m2, the initial attachment position of the window cleaning apparatus may be determined to be the left side of the window, and thus after the end of cleaning The first cleaning unit 100 may move to the left end of the glass window and wait.

Hereinafter, a second embodiment of a method of detecting an initial attachment position of the window cleaning apparatus will be described with reference to FIGS. 17 to 24.

Referring to FIG. 17, when the window D cleaning device is initially attached toward the right direction, that is, when it is close to 0 ° based on the 90 °-(-90 °) axis shown in FIG. 17, the window cleaning device Can be determined to be attached to the left side of the window.

On the other hand, as shown in Fig. 18, when the initial attachment direction (D) of the window cleaning apparatus is toward the left direction, that is, close to 180 ° relative to the 90 ° (-90 °) axis, the window cleaning apparatus is a window pane It can be determined that attached to the right side of.

When the user initially attaches the window cleaning apparatus, the detachable member 150, which is a handle provided in the first cleaning unit 100, is generally disposed to face the window frame 410 of the window 400, and thus, the detachable member This is because the initial attachment direction D and the attachment position of the window cleaning apparatus may be opposite to each other when it is assumed that the direction in which 150 is directed and the direction in which the first cleaning unit 100 moves are opposite to each other.

For example, when the user attaches the window cleaning apparatus to the left side of the window 400 using the detachable member 150, the detachable member 150 is placed toward the left side, and the attached window cleaning apparatus is the right side. Can face.

In this case, the controller 310 may determine that the window cleaning apparatus is initially attached to the left side of the window 400 because the window cleaning apparatus is close to 0 °.

On the contrary, when the window cleaning apparatus is configured such that the direction in which the detachable member 150 faces and the direction in which the first cleaning unit 100 moves are the same, the initial attachment direction D and the attachment position of the window cleaning apparatus are the same. Can be determined.

That is, in the opposite case, when the attachment direction (D) of the window cleaning apparatus is close to 0 °, it is determined that the window cleaning apparatus is initially attached to the right side of the glass window, and when the attachment direction (D) is close to 180 °, the glass window is It may be determined that the cleaning device is initially attached to the left side of the windowpane.

After the initial attachment position (ie, left or right) in the horizontal direction of the window cleaning apparatus is determined as described above, the controller 310 moves the window cleaning apparatus in the left or right direction determined as the initial attachment position in the horizontal direction. Let's do it.

Referring to FIG. 19, when it is determined that the window cleaning apparatus is initially attached to the left side of the window 400, the controller 310 may move the first cleaning unit 100 to the left direction.

The first cleaning unit 100 moved in the left direction may collide with the left vertical frame of the window frame 410, and as described with reference to FIGS. 8 to 10 at the collision point B1 with the left frame. The horizontal direction offset of the direction sensor 300 may be reset.

Referring to FIG. 20, when it is determined that the window cleaning apparatus is initially attached to the right side of the window 400, the controller 310 may move the first cleaning unit 100 in the right direction.

The first cleaning unit 100 moved in the right direction may collide with the right vertical frame of the window frame 410, and as described with reference to FIGS. 8 to 10 at the collision point B1 with the right frame. The horizontal direction offset of the direction sensor 300 may be reset.

Meanwhile, at the collision point B1 illustrated in FIGS. 19 and 20, the offset setting unit 330 may reset the vertical direction offset of the direction sensor 300 based on the reset horizontal direction offset.

Referring to FIG. 21, when the initial attachment position of the window cleaning apparatus is determined to be to the left, and the first cleaning unit 100 is moved to the left by the controller 310, the first cleaning is performed within a predetermined predetermined distance a1. The unit 100 may not collide with the left frame of the window frame 410.

This is a case where the initial attachment position in the horizontal direction, which is primarily determined by the method as described with reference to FIGS. 17 and 18, is incorrect, and the controller 310 cleans the first cleaning by a predetermined distance a1 in the left direction. If the collision with the window frame 410 does not occur while the unit 100 is moved, it may be determined that the initial attachment position of the window cleaning apparatus is the right side.

For example, assuming that the window cleaning device is initially attached within 50 cm from the right or left window frame in consideration of the arm length of the user, the window frame (within 50 cm) while the first cleaning unit 100 moves in the primary direction ( When the collision with the 410 does not occur, the controller 310 may determine that the horizontal initial attachment position of the window cleaning apparatus is opposite to the first determined position.

As shown in FIG. 21, when the first cleaning unit 100 does not collide with the window frame 410 until the first cleaning unit 100 moves by a predetermined distance a1 in the left direction, the controller 310 moves the first cleaning unit 100. The direction can be reversed and moved.

In this case, the horizontal initial attachment position of the window cleaning apparatus may be corrected from left to right determined primarily.

Referring to FIG. 22, the first cleaning unit 100 may move in the right direction according to the modified attachment position to collide with the right vertical frame of the window frame 410, and the collision point B1 with the right frame. 8 to 10, the horizontal direction offset of the direction sensor 300 may be reset.

Meanwhile, at the collision point B1 illustrated in FIG. 22, the offset setting unit 330 may reset the vertical direction offset of the direction sensor 300 based on the reset horizontal direction offset.

Thereafter, the first cleaning unit 100 is moved to the right or left direction according to the determined initial mounting position (or judged) as described with reference to FIGS. 17 to 22, to the vertical frame of the window frame 410. After colliding, the movement direction may be reversed to move by a predetermined distance (a2).

For example, as shown in FIG. 23, the first cleaning unit 100 moves in the right horizontal direction to collide with the right vertical frame of the window frame 410, and then changes the moving direction to the left to about 10 to 15 cm. It can be moved horizontally by a certain distance (a2) corresponding to.

Thereafter, referring to FIG. 24, the first cleaning unit 100 may vertically move to the lower frame of the window frame 410 after changing the moving direction to the lower direction.

The vertical movement distance H may be measured while the first cleaning unit 100 moves vertically downward to the lower frame, and for example, the first wheel members 120 of the first cleaning unit 100 The vertical movement distance H can be measured by the amount of rotation.

Meanwhile, the measured vertical movement distance H as described above may indicate a vertical initial attachment position of the window cleaning apparatus, and the first cleaning unit 100 may be located at the initial attachment position in the detected vertical direction after completion of cleaning. Separation of the window cleaning apparatus can be facilitated by rising by the corresponding distance H and waiting.

According to one embodiment of the present invention, the direction as described with reference to FIGS. 11 to 13 at the time (B2) when the first cleaning unit 100 moves downward to collide with the lower horizontal frame of the window frame 410 The vertical direction offset of the sensing sensor 300 may be reset.

Hereinafter, an embodiment of a method of resetting the direction offset of the direction detection sensor 300 in the process of cleaning the window cleaning apparatus will be described with reference to FIG. 25.

Referring to FIG. 25, after the initial attachment position detection as described above, the first cleaning unit 100 is moved to the uppermost right end (or left end) of the glass window 400, and the first cleaning unit 100 is moved to a preset movement path from the upper right end. The cleaning can be performed while moving along.

For example, the first cleaning unit 100 is moved to the uppermost left end of the glass window 400, and then downwardly moved to the right end of the glass window 400 in the right direction, and again to the left end of the glass window 400. Is moved downward in the direction.

That is, the movement path of the first cleaning unit 100 may alternately repeat the right-down section M1 moved downward in the right direction and the left-down section M2 moved downward in the left direction.

According to one embodiment of the present invention, at the time (C1) when the first cleaning unit 100 moved downward in the left direction collides with the left vertical frame of the window frame 410, described with reference to FIGS. 8 to 10. As described above, the horizontal direction offset of the direction sensor 300 may be reset.

In addition, the horizontal direction offset of the direction sensor 300 may be reset at a time point C2 when the first cleaning unit 100 moving downward in the right direction collides with the right vertical frame of the window frame 410.

The resetting of the horizontal offset is performed whenever the first cleaning unit 100 collides with the window frame 410 while the first cleaning unit 100 is moved according to the movement path shown in FIG. 25, or is performed based on a preset period T. May be

For example, when the reset period T of the direction offset is set to 100 seconds, the offset setting unit 330 counts a time from the time point at which the direction offset of the direction sensor 300 is reset, and counts the counted time. When the time reaches 100 seconds, the horizontal direction offset of the direction sensor 300 may be reset at the point of time of the window frame collision of the first cleaning unit 100, which occurs first thereafter.

According to an embodiment of the present invention, the movement path of the window cleaning apparatus as shown in FIG. 25 may be determined based on the width of the window 400.

For this purpose, the control unit 310 measures the width of the glass window 400 to be cleaned by moving the window cleaning device left and right from the position attached by the user, and the movement path of the window cleaning device according to the measured width of the glass window Can be determined differently from each other.

On the other hand, when the first cleaning unit 100 reaches the lower end of the glass window 400 while moving downward to the left and right according to the movement path as described above, the window cleaning work can be finished.

For example, when the shock absorbing members mounted on the moving direction side collide with the lower frame of the window frame 410 while the first cleaning unit 100 is moving downward in the right direction, the first cleaning unit 100 may be used for the window pane. It can be determined that the movement to the lower end.

As described above, when the first cleaning unit 100 moves to the lower end of the glass window and the cleaning end point is recognized, the first cleaning unit 100 moves horizontally in the right direction along the lower window frame 410 to move the glass window 400. Can be moved to the right end of the, the detergent injection of the second cleaning unit 200 may be terminated at the horizontal movement time of the right direction.

In addition, the first cleaning unit 100 may move to the right end of the glass window 400 and then move horizontally to the left end along the lower window frame 410 to move to the left end of the glass window 400.

By the horizontal movement of the right and left sides of the first cleaning unit 100 after the detergent injection as described above, it is possible to cleanly remove detergents that may flow down during the cleaning and remain at the bottom of the glass window 400.

When the window cleaning operation is finished as described above, the window cleaning apparatus 10, more specifically, the first cleaning unit 100 is located in a position where the user can easily remove the above-mentioned, for example, the position adjacent to the initial attachment position. I can move it.

26 to 28 show one embodiment of the return path of the window cleaning apparatus after the end of cleaning.

Referring to FIG. 26, after the cleaning is finished, the first cleaning unit 100 may move to the left end of the glass window 400, and then change the moving direction by a predetermined distance H in the upward direction.

For example, after the cleaning is finished, the first cleaning unit 100 may move upward in a right direction with a path similar to the parabola and may rise by a predetermined distance H.

On the other hand, when the cleaning is finished by moving the first cleaning unit 100 to the right end of the glass window 400, the first cleaning unit 100 has a path similar to the parabola and moves upwards to the left direction for a predetermined distance (H). May rise by).

After the cleaning is finished, the distance H in which the first cleaning unit 100 moves upward may correspond to a vertical position where the user initially attaches the window cleaning apparatus, for example, as described with reference to FIG. 24. It may have a value corresponding to the initial attachment position H in the vertical direction measured by the method.

That is, after the cleaning is finished, the user can easily detach the window cleaning apparatus from the glass window by waiting for the first cleaning unit 100 to rise and wait by the initial attachment position H in the vertical direction detected in the attaching step.

Thereafter, the first cleaning unit 100 may move toward the end adjacent to the initial attachment position in the horizontal direction detected in the attaching step among the left end and the right end of the glass window 400.

Referring to FIG. 27, when the initial attachment position of the window cleaning apparatus is the right side of the window 400, the first cleaning unit 100 may horizontally move in the right direction to the right end of the window 400.

Meanwhile, as shown in FIG. 28, the first cleaning unit 100 may move to the right end of the glass window 400 and then stop by moving a predetermined distance b in the opposite direction, that is, to the left.

As described above, after the cleaning is finished, the first cleaning unit 100 stops at a position spaced apart from the right end of the glass window 400 by a predetermined distance b, so that the user may easily separate the window cleaning apparatus. This is because when the window cleaning apparatus is in contact with the window frame 410, the window cleaning apparatus may not be easily separated.

On the contrary, when the initial attachment position of the window cleaning apparatus is the left side of the glass window 400, the first cleaning unit 100 moves horizontally to the left end of the glass window 400 in the left direction and then a certain distance b in the right direction. You can stop by moving.

In the above description, the window cleaning apparatus includes first and second cleaning units 100 and 200 attached to the inner side and the outer side of the window by magnetic force, for example, in the movement control method according to the embodiment of the present invention. Although the present invention is not limited thereto, for example, the glass window 400 may be attached to only one of the inner and outer surfaces of the glass window 400 by a vacuum suction or the like in addition to the glass cleaning device or magnetic force. It may be applicable to a window cleaning apparatus to be attached.

In addition, the movement control method of the window cleaning apparatus according to the present invention described above can be stored in a computer-readable recording medium produced as a program for execution in a computer, examples of the computer-readable recording medium is a ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage, and the like, and also include those implemented in the form of carrier waves (for example, transmission over the Internet).

The computer readable recording medium can be distributed over network coupled computer systems so that the computer readable code is stored and executed in a distributed fashion. In addition, functional programs, codes, and code segments for implementing the control method can be easily inferred by programmers in the art to which the present invention belongs.

The present invention has been described above with reference to preferred embodiments thereof, which are merely examples and are not intended to limit the present invention, and those skilled in the art to which the present invention pertains do not depart from the essential characteristics of the present invention. It will be appreciated that various modifications and applications not illustrated above are possible. For example, each component shown in detail in the embodiment of the present invention may be modified. And differences relating to such modifications and applications will have to be construed as being included in the scope of the invention defined in the appended claims.

Claims (20)

In the window cleaning apparatus comprising a first cleaning unit and a second cleaning unit which are attached to both sides of the glass window and moved by magnetic force, A direction detecting sensor provided in at least one of the first and second cleaning units to detect a direction that the window cleaning apparatus faces; A control unit which controls the movement of the window cleaning apparatus according to the direction of the window cleaning apparatus detected by the direction detecting sensor; A collision detector for detecting a collision of the window cleaning apparatus; And And an offset setting unit configured to set a direction offset of the direction detection sensor when the window cleaning device collides with the window frame of the window. The method of claim 1, wherein the direction sensor The window cleaning apparatus of claim 1, wherein the acceleration sensor is provided in the first cleaning unit attached to the inner side of the glass window. The method of claim 1, wherein the control unit It is provided in the first cleaning unit attached to the inner surface of the glass pane of the first and second cleaning units to control the movement of the first cleaning unit, And the second cleaning unit attached to the outer side of the glass window is moved by magnetic force along the movement of the first cleaning unit. The method of claim 1, wherein the collision detection unit And a plurality of shock absorbing members, each of which is provided at four corner portions of the first cleaning unit attached to the inner side of the glass pane of the first and second cleaning units. The method of claim 1, wherein the offset setting unit And resetting the horizontal direction offset of the direction sensor when the window cleaning device collides with the left or right frame extending in the vertical direction of the window frame of the window. The method of claim 5, wherein the offset setting unit And reset the vertical direction offset of the direction sensor based on the reset horizontal direction offset. The method of claim 5, When the two or more buffer members provided on one side of the window cleaning device collides with the left or right frame at the same time, the horizontal window offset device is reset to the horizontal window cleaning device facing the horizontal direction. The method of claim 1, wherein the offset setting unit And resetting the vertical offset of the direction sensor when the window cleaning device collides with the upper or lower frame extending in the horizontal direction of the window frame of the window. The method of claim 8, When the two or more buffer members provided on one side of the window cleaning apparatus collides with the upper or lower frame at the same time, the glass window cleaning device is reset to the vertical direction offset that the glass window cleaning device is directed in the vertical direction. The method of claim 1, wherein the control unit And moving the window cleaning device to the left or right frame of the window to detect the initial attachment position in the horizontal direction, and to the upper or lower frame of the window to detect the initial attachment position in the vertical direction. The method of claim 10, wherein the offset setting unit And resetting a direction offset of the direction detecting sensor when the window cleaning device collides with the frame of the window during the initial attachment position detection process. The method of claim 1, wherein the control unit And determine a moving path of the window cleaning apparatus based on the width of the window, moving the window cleaning apparatus according to the determined moving path, and controlling the cleaning to be performed. The method of claim 12, wherein the offset setting unit The window cleaning apparatus for resetting the horizontal direction offset of the direction sensor when the window cleaning device collides with the right or left frame of the window during the movement process for performing the cleaning. The method of claim 13, Horizontal direction offset of the direction sensor is a window cleaning apparatus that is reset based on a predetermined period. In the method for controlling a window cleaning apparatus comprising a first cleaning unit and a second cleaning unit which are attached to both sides of the window and moved by magnetic force, Detecting a direction of the window cleaning apparatus using a direction sensor; And Moving the window cleaning apparatus based on a direction of the detected window cleaning apparatus, The direction offset of the direction sensor is a movement control method of the window cleaning device is reset when the window cleaning device impacts the window frame of the window. The method of claim 15, And when the window cleaning device collides with the left or right frame extending in the vertical direction of the window frame of the window, the horizontal direction offset of the direction sensor is reset. The method of claim 16, wherein the vertical direction offset of the direction sensor is And a movement control method of the window cleaning apparatus that is reset based on the reset horizontal direction offset. The method of claim 15, And when the window cleaning device collides with the upper or lower frame extending in the horizontal direction of the window frame of the window, the vertical direction offset of the direction sensor is reset. The method of claim 15, Moving the window cleaning apparatus to a left or right frame of the window to detect an initial attachment position in a horizontal direction; And Moving the window cleaning device to the upper or lower frame of the window to detect the initial attachment position in the vertical direction, And when the window cleaning apparatus collides with the frame of the window during the initial attachment position detection steps, the direction offset of the direction sensor is reset. The method of claim 15, Determining a movement path of the window cleaning apparatus based on the width of the window; And Moving the window cleaning apparatus according to the determined movement path and performing cleaning; When the window cleaning apparatus collides with the right or left frame of the window during the cleaning step, the horizontal direction offset of the direction sensor is reset movement control method of the window cleaning apparatus.

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